Title :
Robust force and vibration control of a flexible arm without a force sensor
Author :
Matsuno, Fumitoshi ; Tanaka, Miwako
Author_Institution :
Fac. of Eng., Kobe Univ., Japan
Abstract :
In this paper, robust force and vibration control of a one-link flexible arm without a force sensor is discussed. We derive dynamic equations of the joint angle, the vibration of the flexible link, and the contact force by using Hamilton´s principle. On the basis of a finite-dimensional modal model of a distributed-parameter system, an optimal controller with low-pass property and a robust H∞ controller are constructed. A set of simulations has been carried out
Keywords :
distributed parameter systems; flexible structures; force control; manipulator dynamics; multidimensional systems; optimal control; robust control; vibration control; Hamilton´s principle; contact force; distributed-parameter system; dynamic equations; finite-dimensional modal model; joint angle; low-pass optimal controller; one-link flexible arm; robust H∞ controller; robust force control; robust vibration control; Boundary conditions; Equations; Force control; Force sensors; Manipulators; Robust control; Rotors; Shafts; Space stations; Vibration control;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.478548
